// MIT License

// Copyright (c) 2019 Edward Liu

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#ifndef ROS_NODE_TF_BRIDGE_H_
#define ROS_NODE_TF_BRIDGE_H_

#include <tf/transform_listener.h>
#include <tf2_msgs/TFMessage.h>
#include <tf_conversions/tf_eigen.h>
#include <string>
#include "Eigen/Eigen"
#include "ros_node/urdf_reader.h"

namespace static_map_ros {

Eigen::Matrix4d LoopUpTransfrom(const std::string& target_frame,
                                const std::string& source_frame,
                                const tf::TransformListener& listener);
Eigen::Matrix4d LoopUpTransfrom(const std::string& target_frame,
                                const std::string& source_frame,
                                const tf2_ros::Buffer& tf_buffer);
}  // namespace static_map_ros

#endif  // ROS_NODE_TF_BRIDGE_H_
